CN111540077B - Three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method - Google Patents
Three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method Download PDFInfo
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Abstract
The invention relates to a monitoring method of a converter station valve hall, in particular to a mobile intelligent inspection method of the converter station valve hall based on three-dimensional model coordinate positioning, which is characterized in that a background server and a mobile inspection device are provided, a three-dimensional model of a valve hall building and equipment is used as the input of the mobile inspection device, and the three-dimensional coordinates of the valve hall and the equipment are used as the positioning basis for the movement of the mobile inspection device; on the basis of a three-dimensional coordinate system of the valve hall and the equipment, the mobile inspection device utilizes self motion counting and positioning calculation to keep a safe electrical distance with the equipment as constraint, and automatic inspection and temperature measurement of the whole environment of the valve hall and the target equipment by the mobile inspection device are realized. Has the advantages that: the trackless three-dimensional positioning device has the advantages of high moving temperature measurement response speed, high fixed point precision, high operation reliability and economy and convenience, and fully utilizes the safety margin space to obtain the optimal visual angle by accurately considering the constraint condition of the electrical safety distance.
Description
Technical Field
The invention relates to a monitoring method for a converter station valve hall, in particular to a mobile intelligent inspection method for the converter station valve hall based on three-dimensional model coordinate positioning.
Background
Equipment consisting of power electronic devices such as a converter valve, a direct current breaker, a direct current starting resistor and the like is arranged in a valve hall of the converter station, the range of the suitable environment temperature for the equipment to work is narrow, and the maintenance of constant temperature is vital to the guarantee of the operation reliability of the equipment; in addition, the surface temperature of the equipment changes along with the operation condition, and the monitoring of the surface temperature of the equipment is one of important means for timely finding out the abnormality of the equipment and even the abnormality of the operation state of the direct current system, which is beneficial to ensuring the safe operation of the direct current system, so that the monitoring of the environmental temperature in a valve hall of the converter station and the surface temperature of key equipment has important significance for ensuring the safe and stable operation of the equipment in the valve hall.
The prior art adopts infrared temperature measurement camera to monitor the ambient temperature in the valve room and important equipment surface temperature, and the monitoring mode has two kinds: the system is characterized by comprising a fixed type and rail type mode, namely, a fixed type infrared camera is arranged near important equipment, a rail with a fixed vertical trend is arranged on the wall surface of a valve hall, and a plurality of infrared cameras can move up and down in the rail so as to take the whole equipment into consideration; the other is a mobile inspection type, a track is laid on the ground of an inspection area, a base which can move along the track is arranged on the track, an infrared camera is arranged on the base, and a semi-fixed automatic mobile positioning navigation technology, namely a fixed electromagnetic track type, is adopted. The defects of the technology are as follows:
1) in the scheme of 'fixed + rail type', a dead zone exists in monitoring due to the arrangement of a fixed position and a fixed rail, the precision of a target fixed point is not high, in order to eliminate the monitoring dead zone as much as possible, a large number of infrared cameras are required to be configured, the economy is poor, and the maintenance workload of the rail type camera is far greater than that of a common camera;
2) the fixed electromagnetic track type inspection camera needs to be provided with a track on the ground, so that the improvement amount of the ground of a valve hall is large, and the requirements on the valve hall with compact equipment and tense field are met; in addition, the electromagnetic track also has the problem of gradual demagnetization of the track, and even influences the normal operation of equipment, so that the operation reliability is insufficient.
Disclosure of Invention
The invention aims to provide the three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method which is economic and convenient, high in fixed point precision and good in operation reliability according to the defects of the prior art.
The purpose of the invention is realized by the following ways:
the three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method is characterized by comprising the following steps of:
1) providing a background server which comprises a three-dimensional positioning module, a data storage and modeling module, a data analysis and early warning module and a human-computer interaction module respectively connected with the three-dimensional positioning module and the data analysis and early warning module; the data storage and modeling module stores a valve hall three-dimensional model file, the three-dimensional model file comprises a three-dimensional coordinate system, and the three-dimensional coordinate system refers to three-dimensional coordinate data extracted according to three-dimensional model information of all equipment and structures in a valve hall body building and a valve hall;
2) the three-dimensional positioning module divides the valve hall into a plurality of environment temperature monitoring areas, and a charging positioning point is arranged in each environment temperature monitoring area; extracting three-dimensional coordinate data of a monitoring area and equipment objects in the area from a three-dimensional model file, decomposing a three-dimensional model by a data storage and modeling module according to each equipment object in a valve hall, dividing the three-dimensional model into a plurality of parts, extracting corresponding three-dimensional coordinates from each part to serve as a temperature monitoring coordinate point of the part, wherein each part is a monitoring target;
3) providing a mobile inspection device, wherein a data part of the mobile inspection device comprises a positioning driving module, an infrared temperature measurement module, a data output module and a power supply module for supplying power to the modules, which are sequentially connected; the structure part of the mobile inspection device comprises a driving travelling mechanism connected with a positioning driving module, a camera head arranged on the driving travelling mechanism, and an infrared camera arranged on the camera head and internally provided with an infrared temperature measuring module; the data output module is connected with the background server, and the mobile inspection device is provided with a corresponding charging positioning device at a charging positioning point;
4) the positioning driving module imports three-dimensional coordinate data of a target monitoring area and a monitoring target from the background server, obtains a three-dimensional coordinate value of the monitoring target and imports the electrical safety distance of each device in the valve hall;
5) taking a charging positioning point of the mobile inspection device as an initial positioning point, reading the coordinate of the initial positioning point according to the three-dimensional coordinate data, and setting the coordinate as a starting point coordinate (Xq, Yq, Zq) = the coordinate of the initial positioning point (X)0，Y0，Z0）；
6) Setting a first monitoring target n =1, and reading coordinate values (Xn, Yn, Zn) of the monitoring target according to the three-dimensional coordinate data; let the end point coordinates (Xz, Yz, Zz) = (Xn, Yn, Zn) of the mobile inspection device,
7) calculating coordinate difference values (Xz-Xq, Yz-Yq, Zz-Zq) between the coordinates of the end point and the coordinates of the start point; the positioning driving module carries out monitoring path planning on the basis of three-dimensional coordinate data in the valve hall and electrical safety distance, obtains the number of steps of the mobile inspection device which needs to be advanced in a planned path, further judges whether the electric quantity of the power supply module is sufficient, and if the electric quantity is sufficient, triggers the driving mechanism to move to a coordinate value of a monitoring target according to the planned path; if the electric quantity of the power supply module is insufficient, the inspection device is moved to the initial positioning point to be charged, and the step 5) is returned;
8) the mobile inspection device reaches the coordinate value of the monitored target, the infrared temperature measurement module is started to measure the temperature by aiming at the monitored target, and the temperature measurement data is transmitted to the background server through the data output module and is stored in the data storage and modeling module;
9) after temperature measurement is completed, whether monitoring targets are all completed or not is judged, if not, the next monitoring target n = n +1 is set, the starting point coordinate is the coordinate of the current monitoring target, namely, (Xq, Yq, Zq) = (Xn, Yn, Zn), and the end point coordinate is the coordinate of the next monitoring target, namely, (Xz, Yz, Zz) = (Xn +1, Yn +1, Zn + 1); and if the inspection task is completely finished, returning to the charging positioning point to wait for the next inspection task.
The camera tripod head is a 360-degree rotating tripod head of a horizontal plane and a vertical plane, so that 360-degree rotation of the infrared camera in the horizontal plane and pitching rotation from the horizontal plane to the vertical plane are realized.
The temperature measurement data comprises temperature measurement coordinates, temperature measurement time and temperature measurement temperature.
The data storage and modeling module is communicated with the in-station monitoring system to acquire real-time working condition information of the operation of the direct current system, wherein the real-time working condition information comprises power, current and voltage, the operation working condition information is divided into different operation working conditions according to the operation power and the current and voltage, and corresponding temperature measurement data are stored in a classified mode and early warning analysis data models are respectively established.
The model mainly comprises a group of historical data, and after new temperature measurement data are obtained each time, the operation condition-temperature data model is continuously and automatically updated in an iterative mode.
And the data analysis and early warning module performs data analysis and temperature abnormity early warning after receiving the real-time temperature measurement data according to the early warning analysis data model.
In conclusion, the invention provides a converter station valve hall mobile type intelligent inspection method based on three-dimensional model coordinate positioning, a trackless three-dimensional model positioning mode is adopted, and the actual state of an equipment target can completely accord with the corresponding three-dimensional coordinate, so that the response speed of a mobile inspection device is higher, and the fixed point precision is higher; on the other hand, the constraint condition of the electrical safety distance can be accurately considered when the monitoring path is planned, the safety margin space is fully utilized to obtain the optimal visual angle, and the normal operation of the equipment is not influenced; and finally, an equipment temperature data model is established according to different operating conditions, the data correlation degree in the model is higher, and the historical rule is better met, so that the reliability of the operating temperature early warning is improved.
Drawings
Fig. 1 is a schematic view of a flow framework of a converter station valve hall mobile intelligent inspection method based on three-dimensional model coordinate positioning.
The present invention will be further described with reference to the following examples.
Detailed Description
The best embodiment is as follows:
the basic principle of the three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method comprises the following steps:
1) taking a three-dimensional model of a valve hall building and equipment as the input of the mobile inspection device, and taking three-dimensional coordinates of the valve hall and the equipment as the moving positioning basis of the mobile inspection device; 2) on the basis of a three-dimensional coordinate system of the valve hall and the equipment, the automatic inspection and temperature measurement of the whole environment of the valve hall and the target equipment by the mobile inspection device are realized by utilizing self motion counting and positioning calculation and taking the safe electric distance between the mobile inspection device and the equipment as constraint; 3) the method comprises the steps of establishing a historical temperature measurement database, particularly establishing a temperature-operation working condition correlation analysis model for equipment needing important temperature measurement, combining the correlation analysis model and an applied expert library algorithm after obtaining a real-time temperature measurement result, and realizing overtemperature early warning of the equipment under different operation working conditions, so that the equipment abnormality is discovered as early as possible.
The system comprises the following components: the system comprises a background server, a mobile inspection device and a charging positioning device; one or more mobile intelligent inspection devices can be arranged according to the subareas of the monitoring area, and each mobile inspection device and the background server transmit temperature measurement data and control related command information through wireless communication. The mobile inspection device is responsible for infrared temperature measurement and data output of each area and equipment, and the background server is responsible for temperature measurement instruction issuing, data storage modeling and analysis.
The background server comprises a three-dimensional positioning module, a data storage and modeling module, a data analysis and early warning module and a human-computer interaction module which is respectively connected with the three-dimensional positioning module and the data analysis and early warning module; the three-dimensional positioning module is internally provided with information comprising a valve hall three-dimensional coordinate system and a temperature measurement strategy facing each area and equipment, wherein the valve hall three-dimensional coordinate system is as follows: and extracting three-dimensional coordinate data according to the three-dimensional model information of the valve hall body building and all equipment and structures in the valve hall, wherein the three-dimensional coordinate system is the basis for the mobile positioning of the inspection temperature measuring device. The temperature measurement strategy facing each area and equipment is as follows: the valve hall is divided into a plurality of environment temperature monitoring areas, and the temperature measuring strategy of the prefabricated mobile inspection device is optimized in advance aiming at each environment temperature monitoring area and equipment needing temperature measurement, wherein the temperature measuring strategy comprises an optimal temperature measuring point, a rotation angle of a camera holder and a pitching angle of an infrared camera after the camera holder reaches the optimal temperature measuring point, and the temperature measuring action duration time. The system receives the inspection task through a human-computer interaction platform and comprises subtasks of monitoring the environmental temperature of a plurality of areas and monitoring the surface temperature of a plurality of devices. And searching the temperature measurement strategy of each subtask in a basic built-in information table of the three-dimensional positioning module, and automatically planning the routing inspection route according to the coordinates of a plurality of temperature measurement points and in combination with electrical safety distance constraint. Every removes inspection device and is equipped with a positioner that charges, installs fixedly in the valve room and exchanges 220V power department, and the device can realize for removing the function that inspection device charges and originated coordinate location, and at the removal in-process, remove inspection device utilizes self motion count and with originated coordinate difference location calculation learn self real-time coordinate, can recharge automatically when patrolling and examining temperature measuring device and lack of power, refer to figure 1, its step is specifically as follows:
1) the data part of the mobile inspection device comprises a positioning driving module, an infrared temperature measurement module, a data output module and a power supply module for supplying power to the modules, wherein the positioning driving module, the infrared temperature measurement module and the data output module are sequentially connected; the structure part of the mobile inspection device comprises a driving travelling mechanism connected with a positioning driving module, a camera head arranged on the driving travelling mechanism, and an infrared camera arranged on the camera head and internally provided with an infrared temperature measuring module; the data output module is connected with the background server, and the mobile inspection device is provided with a corresponding charging positioning device at a charging positioning point;
2) the positioning driving module imports a three-dimensional design model file from the background server and obtains three-dimensional coordinate information of a monitored target area and equipment from the three-dimensional design model file; acquiring a three-dimensional coordinate value of a monitored target from a human-computer interaction platform according to the requirement of the monitoring granularity, and reading a temperature measurement strategy; in addition, reading the electrical safety distance requirement from the human-computer interaction platform;
3) taking a charging positioning point of the mobile inspection device as an initial positioning point, reading the coordinate of the initial positioning point according to the three-dimensional coordinate data, and setting the coordinate as a starting point coordinate (Xq, Yq, Zq) = the coordinate of the initial positioning point (X)0，Y0，Z0）；
4) Setting a first monitoring target n =1, and reading coordinate values (Xn, Yn, Zn) of the monitoring target according to the three-dimensional coordinate data; let the end point coordinates (Xz, Yz, Zz) = (Xn, Yn, Zn) of the mobile inspection device,
5) calculating coordinate difference values (Xz-Xq, Yz-Yq, Zz-Zq) between the coordinates of the end point and the coordinates of the start point; the positioning driving module carries out monitoring path planning on the basis of three-dimensional coordinate data in the valve hall and electrical safety distance, obtains the number of steps of the mobile inspection device which needs to be advanced in a planned path, further judges whether the electric quantity of the power supply module is sufficient, and if the electric quantity is sufficient, triggers the driving mechanism to move to a coordinate value of a monitoring target according to the planned path; if the electric quantity of the power supply module is insufficient, the inspection device is moved to the initial positioning point to be charged, and the step 3) is returned;
6) the mobile inspection device reaches the coordinate value of the monitored target, the infrared temperature measurement module is started to measure the temperature by aiming at the monitored target, and the temperature measurement data is transmitted to the background server through the data output module and is stored in the data storage and modeling module;
7) after temperature measurement is completed, whether monitoring targets are all completed or not is judged, if not, the next monitoring target n = n +1 is set, the starting point coordinate is the coordinate of the current monitoring target, namely, (Xq, Yq, Zq) = (Xn, Yn, Zn), and the end point coordinate is the coordinate of the next monitoring target, namely, (Xz, Yz, Zz) = (Xn +1, Yn +1, Zn + 1); and if the inspection task is completely finished, returning to the charging positioning point to wait for the next inspection task.
The infrared camera is installed on the cloud platform of making a video recording, and the cloud platform can realize 360 degrees rotations in horizontal plane. Meanwhile, the infrared camera can realize pitching rotation from being parallel to the horizontal plane to being perpendicular to the horizontal plane. After each temperature measurement, the data output module outputs data such as temperature measurement coordinates, temperature measurement time, measured temperature and the like to the background server for storage and analysis. The data analysis and early warning module of the background server can analyze data and early warn abnormal temperature by using a historical model database and an expert database algorithm aiming at key areas of key equipment.
The data storage and modeling module can realize classified storage modeling according to equipment and operation conditions, and the specific implementation mode is as follows: the background server carries out three-dimensional model decomposition on each equipment object, the equipment objects are divided into a plurality of parts, corresponding three-dimensional coordinates are extracted from each part and used as temperature monitoring coordinate points of the parts, and the coordinate points can also be set by operators when necessary; meanwhile, the background server can communicate with the in-station monitoring system to acquire real-time working condition information such as running power, current, voltage and the like of the direct current system, the direct current system is divided into different running working conditions according to the running power and the current and voltage, corresponding temperature measurement data are stored in a classified mode and early warning analysis data models are respectively established according to the different running working conditions, the models mainly comprise a group of historical data, and after new temperature measurement data are acquired each time, the running working condition-temperature data models are continuously and automatically updated in an iterative mode. The background server can display in real time according to the operating conditions and the temperature states of different devices.
The parts of the invention not described are the same as the prior art.
Claims (4)
1. The three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method is characterized by comprising the following steps of:
1) providing a background server which comprises a three-dimensional positioning module, a data storage and modeling module, a data analysis and early warning module and a human-computer interaction module respectively connected with the three-dimensional positioning module and the data analysis and early warning module; the data storage and modeling module stores a valve hall three-dimensional model file, the three-dimensional model file comprises a three-dimensional coordinate system, and the three-dimensional coordinate system refers to three-dimensional coordinate data extracted according to three-dimensional model information of all equipment and structures in a valve hall body building and a valve hall;
2) the three-dimensional positioning module divides the valve hall into a plurality of environment temperature monitoring areas, and a charging positioning point is arranged in each environment temperature monitoring area; extracting three-dimensional coordinate data of a monitoring area and equipment objects in the area from a three-dimensional model file, decomposing a three-dimensional model by a data storage and modeling module according to each equipment object in a valve hall, dividing the three-dimensional model into a plurality of parts, extracting corresponding three-dimensional coordinates from each part to serve as a temperature monitoring coordinate point of the part, wherein each part is a monitoring target;
3) providing a mobile inspection device, wherein a data part of the mobile inspection device comprises a positioning driving module, an infrared temperature measurement module, a data output module and a power supply module for supplying power to the modules, which are sequentially connected; the structure part of the mobile inspection device comprises a driving travelling mechanism connected with a positioning driving module, a camera head arranged on the driving travelling mechanism, and an infrared camera arranged on the camera head and internally provided with an infrared temperature measuring module; the data output module is connected with the background server, and the mobile inspection device is provided with a corresponding charging positioning device at a charging positioning point;
4) the positioning driving module imports three-dimensional coordinate data of a target monitoring area and a monitoring target from the background server, obtains a three-dimensional coordinate value of the monitoring target and imports the electrical safety distance of each device in the valve hall;
5) taking a charging positioning point of the mobile inspection device as an initial positioning point, reading the coordinate of the initial positioning point according to the three-dimensional coordinate data, and setting the coordinate as a starting point coordinate (Xq, Yq, Zq) = the coordinate of the initial positioning point (X)0，Y0，Z0）；
6) Setting a first monitoring target n =1, and reading coordinate values (Xn, Yn, Zn) of the monitoring target according to the three-dimensional coordinate data; let the moving inspection device end point coordinate (Xz, Yz, Zz) = (Xn, Yn, Zn)
7) Calculating coordinate difference values (Xz-Xq, Yz-Yq, Zz-Zq) between the coordinates of the end point and the coordinates of the start point; the positioning driving module carries out monitoring path planning on the basis of three-dimensional coordinate data in the valve hall and electrical safety distance, obtains the number of steps of the mobile inspection device which needs to be advanced in a planned path, further judges whether the electric quantity of the power supply module is sufficient, and if the electric quantity is sufficient, triggers the driving mechanism to move to a coordinate value of a monitoring target according to the planned path; if the electric quantity of the power supply module is insufficient, the inspection device is moved to the initial positioning point to be charged, and the step 5) is returned;
8) the mobile inspection device reaches the coordinate value of the monitored target, the infrared temperature measurement module is started to measure the temperature by aiming at the monitored target, and the temperature measurement data is transmitted to the background server through the data output module and is stored in the data storage and modeling module;
9) after temperature measurement is completed, whether monitoring targets are all completed or not is judged, if not, the next monitoring target n = n +1 is set, the starting point coordinate is the coordinate of the current monitoring target, namely, (Xq, Yq, Zq) = (Xn, Yn, Zn), and the end point coordinate is the coordinate of the next monitoring target, namely, (Xz, Yz, Zz) = (Xn +1, Yn +1, Zn + 1); and if the inspection task is completely finished, returning to the charging positioning point to wait for the next inspection task.
2. The three-dimensional model coordinate positioning-based converter station valve hall mobile intelligent inspection method according to claim 1, wherein the camera tripod head is a 360-degree rotating tripod head for a horizontal plane and a vertical plane.
3. The three-dimensional model coordinate positioning-based mobile intelligent inspection method for the valve hall of the converter station according to claim 1, wherein the temperature measurement data comprises temperature measurement coordinates, temperature measurement time and temperature measurement temperature.
4. The three-dimensional model coordinate positioning-based mobile intelligent inspection method for the valve hall of the converter station according to claim 1, wherein the data storage and modeling module is communicated with an in-station monitoring system to acquire real-time working condition information of the operation of a direct current system, including power, current and voltage, and is divided into different operation working conditions according to the operation power and the current and voltage, and accordingly, corresponding temperature measurement data is classified and stored and an early warning analysis data model is respectively established.
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